@pollen-robotics/reachy-mini-sdk 1.12.0 → 1.13.0-dev.0.main.55a68f6

package/host/dist/chunks/{centralRest-K3a9U_Sk.js → centralRest-Bf6BR9KA.js}

@@ -1,19 +1,19 @@
-var re = Object.defineProperty, se = (s, e, t) => e in s ? re(s, e, { enumerable: !0, configurable: !0, writable: !0, value: t }) : s[e] = t, A = (s, e, t) => (se(s, typeof e != "symbol" ? e + "" : e, t), t), Z = "https://huggingface.co";
+var ne = Object.defineProperty, se = (s, e, t) => e in s ? ne(s, e, { enumerable: !0, configurable: !0, writable: !0, value: t }) : s[e] = t, A = (s, e, t) => (se(s, typeof e != "symbol" ? e + "" : e, t), t), Z = "https://huggingface.co";
 async function D(s, e) {
-  var t, n;
-  const r = new ie(s.url, s.status, (t = s.headers.get("X-Request-Id")) != null ? t : void 0);
-  r.message = `Api error with status ${r.statusCode}`;
-  const i = [`URL: ${r.url}`, r.requestId ? `Request ID: ${r.requestId}` : void 0].filter(Boolean).join(". ");
-  if ((n = s.headers.get("Content-Type")) != null && n.startsWith("application/json")) {
+  var t, r;
+  const n = new ie(s.url, s.status, (t = s.headers.get("X-Request-Id")) != null ? t : void 0);
+  n.message = `Api error with status ${n.statusCode}`;
+  const i = [`URL: ${n.url}`, n.requestId ? `Request ID: ${n.requestId}` : void 0].filter(Boolean).join(". ");
+  if ((r = s.headers.get("Content-Type")) != null && r.startsWith("application/json")) {
     const o = await s.json();
-    r.message = o.error || o.message || r.message, r.data = o;
+    n.message = o.error || o.message || n.message, n.data = o;
   } else
-    r.data = { message: await s.text() };
-  throw r.message += `. ${i}`, r;
+    n.data = { message: await s.text() };
+  throw n.message += `. ${i}`, n;
 }
 var ie = class extends Error {
-  constructor(s, e, t, n) {
-    super(n), A(this, "statusCode"), A(this, "url"), A(this, "requestId"), A(this, "data"), this.statusCode = e, this.requestId = t, this.url = s;
+  constructor(s, e, t, r) {
+    super(r), A(this, "statusCode"), A(this, "url"), A(this, "requestId"), A(this, "data"), this.statusCode = e, this.requestId = t, this.url = s;
   }
 };
 new Promise((s) => {
@@ -32,10 +32,10 @@ async function B(s) {
   var e, t;
   if (typeof window > "u")
     throw new Error("oauthHandleRedirect is only available in the browser");
-  const n = new URLSearchParams(window.location.search), [r, i] = [n.get("error"), n.get("error_description")];
-  if (r)
-    throw new Error(`${r}: ${i}`);
-  const o = n.get("code"), a = localStorage.getItem("huggingface.co:oauth:nonce");
+  const r = new URLSearchParams(window.location.search), [n, i] = [r.get("error"), r.get("error_description")];
+  if (n)
+    throw new Error(`${n}: ${i}`);
+  const o = r.get("code"), a = localStorage.getItem("huggingface.co:oauth:nonce");
   if (!o)
     throw new Error("Missing oauth code from query parameters in redirected URL");
   if (!a)
@@ -43,7 +43,7 @@ async function B(s) {
   const c = localStorage.getItem("huggingface.co:oauth:code_verifier");
   if (!c)
     throw new Error("Missing oauth code_verifier from localStorage");
-  const d = n.get("state");
+  const d = r.get("state");
   if (!d)
     throw new Error("Missing oauth state from query parameters in redirected URL");
   let u;
@@ -121,7 +121,7 @@ async function ce(s) {
   var e, t;
   if (typeof window > "u")
     throw new Error("oauthLogin is only available in the browser");
-  const n = s?.hubUrl || Z, r = `${new URL(n).origin}/.well-known/openid-configuration`, i = await fetch(r, {
+  const r = s?.hubUrl || Z, n = `${new URL(r).origin}/.well-known/openid-configuration`, i = await fetch(n, {
     headers: {
       Accept: "application/json"
     }
@@ -166,7 +166,7 @@ function de() {
   return "info";
 }
 let C = de();
-function O(s) {
+function $(s) {
   const e = `[reachy:${s}]`;
   return {
     debug: (...t) => {
@@ -183,11 +183,11 @@ function O(s) {
     }
   };
 }
-function I(s) {
+function k(s) {
   return s * Math.PI / 180;
 }
 function ue(s, e, t) {
-  const n = I(s), r = I(e), i = I(t), o = Math.cos(i), a = Math.sin(i), c = Math.cos(r), d = Math.sin(r), u = Math.cos(n), l = Math.sin(n);
+  const r = k(s), n = k(e), i = k(t), o = Math.cos(i), a = Math.sin(i), c = Math.cos(n), d = Math.sin(n), u = Math.cos(r), l = Math.sin(r);
   return [
     [o * c, o * d * l - a * u, o * d * u + a * l, 0],
     [a * c, a * d * l + o * u, a * d * u - o * l, 0],
@@ -205,11 +205,11 @@ class _e {
    */
   accept(e) {
     if (e.type !== "message_chunk") return e;
-    const { id: t, index: n, count: r, data: i } = e;
-    if (typeof t != "string" || typeof n != "number" || typeof r != "number" || typeof i != "string" || r < 1 || r > he)
+    const { id: t, index: r, count: n, data: i } = e;
+    if (typeof t != "string" || typeof r != "number" || typeof n != "number" || typeof i != "string" || n < 1 || n > he)
       return null;
     let o = this._partials.get(t);
-    return n === 0 && (o = [], this._partials.set(t, o)), !o || n !== o.length ? (this._partials.delete(t), null) : (o.push(i), o.length < r ? null : (this._partials.delete(t), JSON.parse(o.join(""))));
+    return r === 0 && (o = [], this._partials.set(t, o)), !o || r !== o.length ? (this._partials.delete(t), null) : (o.push(i), o.length < n ? null : (this._partials.delete(t), JSON.parse(o.join(""))));
   }
 }
 const ee = 4e3;
@@ -232,12 +232,12 @@ class pe {
    * so its caller doesn't hang forever.
    */
   slotRoundtrip(e, t) {
-    return new Promise((n) => {
-      const r = this._replySlots.get(e);
-      r && r(null);
+    return new Promise((r) => {
+      const n = this._replySlots.get(e);
+      n && n(null);
       let i;
       const o = (a) => {
-        i !== void 0 && (clearTimeout(i), i = void 0), this._replySlots.get(e) === o && this._replySlots.delete(e), n(a);
+        i !== void 0 && (clearTimeout(i), i = void 0), this._replySlots.get(e) === o && this._replySlots.delete(e), r(a);
       };
       this._replySlots.set(e, o), i = setTimeout(() => o(null), ee), t();
     });
@@ -248,8 +248,8 @@ class pe {
    * branches use that to decide whether the message was theirs to swallow.
    */
   settleReplySlot(e, t) {
-    const n = this._replySlots.get(e);
-    return n ? (n(t), !0) : !1;
+    const r = this._replySlots.get(e);
+    return r ? (r(t), !0) : !1;
   }
   /* ─── JSON-RPC ───────────────────────────────────────────────────── */
   /**
@@ -258,13 +258,13 @@ class pe {
    * promise then rejects immediately), and await the matching
    * response; rejects on timeout. Same shape as `slotRoundtrip`.
    */
-  rpcRoundtrip(e, t, n) {
-    const r = `rpc-${++this._rpcCounter}`;
-    return n(r) ? new Promise((i, o) => {
+  rpcRoundtrip(e, t, r) {
+    const n = `rpc-${++this._rpcCounter}`;
+    return r(n) ? new Promise((i, o) => {
       const a = setTimeout(() => {
-        this._pendingRpc.delete(r), o(new Error(`rpcCall(${e}) timed out after ${t}ms`));
+        this._pendingRpc.delete(n), o(new Error(`rpcCall(${e}) timed out after ${t}ms`));
       }, t);
-      this._pendingRpc.set(r, { resolve: i, reject: o, timer: a });
+      this._pendingRpc.set(n, { resolve: i, reject: o, timer: a });
     }) : Promise.reject(new Error(`rpcCall(${e}): data channel not open`));
   }
   /**
@@ -279,8 +279,8 @@ class pe {
     const t = this._pendingRpc.get(e.id);
     if (!t) return !0;
     if (this._pendingRpc.delete(e.id), clearTimeout(t.timer), "error" in e && e.error) {
-      const n = e.error, r = new Error(n.message ?? "rpc error");
-      r.reason = n.data?.reason, t.reject(r);
+      const r = e.error, n = new Error(r.message ?? "rpc error");
+      n.reason = r.data?.reason, t.reject(n);
     } else
       t.resolve(e.result);
     return !0;
@@ -288,13 +288,13 @@ class pe {
   /* ─── Motion completions (wake_up / goto_sleep) ──────────────────── */
   /** FIFO waiter for one `wake_up` / `goto_sleep` ack; rejects on timeout. */
   awaitMotion(e, t) {
-    return new Promise((n, r) => {
+    return new Promise((r, n) => {
       const i = {
-        resolve: n,
-        reject: r,
+        resolve: r,
+        reject: n,
         timer: setTimeout(() => {
           const o = this._pendingMotion[e], a = o.indexOf(i);
-          a !== -1 && o.splice(a, 1), r(new Error(`${e} timed out after ${t}ms`));
+          a !== -1 && o.splice(a, 1), n(new Error(`${e} timed out after ${t}ms`));
         }, t)
       };
       this._pendingMotion[e].push(i);
@@ -307,28 +307,28 @@ class pe {
    * message then falls through to the caller's other branches).
    */
   settleMotion(e, t) {
-    const n = this._pendingMotion[e];
-    if (t.completed === !0 && n.length > 0) {
-      const r = n.shift();
-      return clearTimeout(r.timer), r.resolve(), !0;
+    const r = this._pendingMotion[e];
+    if (t.completed === !0 && r.length > 0) {
+      const n = r.shift();
+      return clearTimeout(n.timer), n.resolve(), !0;
     }
-    if (t.error && n.length > 0) {
-      const r = n.shift();
-      return clearTimeout(r.timer), r.reject(new Error(`${e}: ${t.error}`)), !0;
+    if (t.error && r.length > 0) {
+      const n = r.shift();
+      return clearTimeout(n.timer), n.reject(new Error(`${e}: ${t.error}`)), !0;
     }
     return !1;
   }
   /* ─── Broadcast waiters ──────────────────────────────────────────── */
   /** Await the first broadcast matching `predicate`; rejects on timeout. */
-  awaitBroadcast(e, { timeoutMs: t = 5e3, debugLabel: n = "" } = {}) {
-    return new Promise((r, i) => {
+  awaitBroadcast(e, { timeoutMs: t = 5e3, debugLabel: r = "" } = {}) {
+    return new Promise((n, i) => {
       const o = {
         predicate: e,
-        resolve: r,
+        resolve: n,
         reject: i,
         timer: setTimeout(() => {
           const a = this._broadcastWaiters.indexOf(o);
-          a !== -1 && this._broadcastWaiters.splice(a, 1), i(new P(`broadcast timeout (${t} ms): ${n}`));
+          a !== -1 && this._broadcastWaiters.splice(a, 1), i(new P(`broadcast timeout (${t} ms): ${r}`));
         }, t)
       };
       this._broadcastWaiters.push(o);
@@ -340,9 +340,9 @@ class pe {
    */
   matchBroadcast(e) {
     for (let t = this._broadcastWaiters.length - 1; t >= 0; t--) {
-      const n = this._broadcastWaiters[t];
-      if (n.predicate(e))
-        return this._broadcastWaiters.splice(t, 1), clearTimeout(n.timer), n.resolve(e), !0;
+      const r = this._broadcastWaiters[t];
+      if (r.predicate(e))
+        return this._broadcastWaiters.splice(t, 1), clearTimeout(r.timer), r.resolve(e), !0;
     }
     return !1;
   }
@@ -362,10 +362,10 @@ class pe {
       clearTimeout(t.timer), t.reject(e);
     this._pendingRpc.clear();
     for (const t of Object.keys(this._pendingMotion)) {
-      const n = this._pendingMotion[t];
-      for (; n.length; ) {
-        const r = n.shift();
-        clearTimeout(r.timer), r.reject(e);
+      const r = this._pendingMotion[t];
+      for (; r.length; ) {
+        const n = r.shift();
+        clearTimeout(n.timer), n.reject(e);
       }
     }
     for (const t of this._broadcastWaiters)
@@ -373,7 +373,7 @@ class pe {
     this._broadcastWaiters = [];
   }
 }
-const M = O("session"), q = 3e3, G = 1e3, fe = 6e4, V = [0, 2e3, 4e3, 8e3, 8e3], me = 15e3, J = 1e3, ge = 2500, we = 8e3;
+const M = $("session"), q = 3e3, G = 1e3, fe = 6e4, V = [0, 2e3, 4e3, 8e3, 8e3], me = 15e3, J = 1e3, ge = 2500, we = 8e3;
 class be {
   _deps;
   // ICE-blip debounce. All handler slots are scoped to the lifetime
@@ -470,16 +470,16 @@ class be {
     }
     this._iceGraceReason = t, this._iceGraceTimer = setTimeout(() => {
       this._iceGraceTimer = null;
-      const n = this._iceGraceReason;
+      const r = this._iceGraceReason;
       this._iceGraceReason = null;
-      const r = this._deps.iceState();
-      if (!(r === "connected" || r === "completed")) {
-        if (n === "disconnected" && r === "disconnected") {
+      const n = this._deps.iceState();
+      if (!(n === "connected" || n === "completed")) {
+        if (r === "disconnected" && n === "disconnected") {
           if (this.maybeBeginRedial(`ICE stuck in 'disconnected' for > ${e}ms`)) return;
           this._emitError(new Error(`ICE stuck in 'disconnected' for > ${e}ms`));
           return;
         }
-        if (n === "failed" || r === "failed") {
+        if (r === "failed" || n === "failed") {
           const i = new Error("ICE connection failed");
           if (this._deps.rejectPendingSession(i)) {
             this._redialing || this._emitError(i);
@@ -502,19 +502,19 @@ class be {
     if (this._pendingVisibilityHandler) return;
     const e = Date.now(), t = () => {
       if (typeof document < "u" && document.hidden || (document.removeEventListener("visibilitychange", t), this._pendingVisibilityHandler = null, !this._deps.hasPc())) return;
-      const n = this._deps.iceState();
-      if (!(n === "connected" || n === "completed")) {
+      const r = this._deps.iceState();
+      if (!(r === "connected" || r === "completed")) {
         if (Date.now() - e > fe) {
-          const r = new Error("Session expired while tab was backgrounded");
-          if (this._deps.rejectPendingSession(r)) {
-            this._redialing || this._emitError(r);
+          const n = new Error("Session expired while tab was backgrounded");
+          if (this._deps.rejectPendingSession(n)) {
+            this._redialing || this._emitError(n);
             return;
           }
           if (this.maybeBeginRedial("Session expired while tab was backgrounded")) return;
-          this._emitError(r);
+          this._emitError(n);
           return;
         }
-        if (n === "failed") {
+        if (r === "failed") {
           this._scheduleIceGrace(G, "failed");
           return;
         }
@@ -547,15 +547,15 @@ class be {
     if (this._onlineHandler || typeof window > "u") return;
     const e = () => this._deps.emit("networkOnline", {}), t = () => this._deps.emit("networkOffline", {});
     window.addEventListener("online", e), window.addEventListener("offline", t), this._onlineHandler = e, this._offlineHandler = t;
-    const n = navigator.connection;
-    if (n && typeof n.addEventListener == "function") {
-      const r = () => this._deps.emit("networkChange", {
-        effectiveType: n.effectiveType,
-        downlink: n.downlink,
-        rtt: n.rtt,
-        saveData: n.saveData
+    const r = navigator.connection;
+    if (r && typeof r.addEventListener == "function") {
+      const n = () => this._deps.emit("networkChange", {
+        effectiveType: r.effectiveType,
+        downlink: r.downlink,
+        rtt: r.rtt,
+        saveData: r.saveData
       });
-      n.addEventListener("change", r), this._connectionChangeHandler = r;
+      r.addEventListener("change", n), this._connectionChangeHandler = n;
     }
   }
   /** Counterpart to `installNetworkListeners`. */
@@ -592,10 +592,10 @@ class be {
    * which flip `_redialing` off via `cancelRedial`.
    */
   async _runRedialLoop(e, t) {
-    const n = V.length;
+    const r = V.length;
     this._deps.teardownForRedial();
-    for (let i = 1; i <= n; i++) {
-      if (!this._redialing || (this._deps.emit("sessionReconnecting", { attempt: i, maxAttempts: n, cause: t }), await this._redialSleep(V[i - 1]), !this._redialing)) return;
+    for (let i = 1; i <= r; i++) {
+      if (!this._redialing || (this._deps.emit("sessionReconnecting", { attempt: i, maxAttempts: r, cause: t }), await this._redialSleep(V[i - 1]), !this._redialing)) return;
       try {
         if (this._deps.isSignalingDown() && await this._deps.reconnectSignaling(), !this._redialing || (await ye(
           this._deps.dial(e),
@@ -606,15 +606,15 @@ class be {
         return;
       } catch (o) {
         M.warn(
-          `auto-reconnect attempt ${i}/${n} failed:`,
+          `auto-reconnect attempt ${i}/${r} failed:`,
           o
         ), this._redialing && this._deps.teardownForRedial();
       }
     }
     if (!this._redialing) return;
     this._redialing = !1;
-    const r = `Auto-reconnect gave up after ${n} attempts (${t})`;
-    M.warn(r), this._deps.emit("sessionStopped", { reason: "reconnect_failed", message: r }), this._emitError(new Error(r));
+    const n = `Auto-reconnect gave up after ${r} attempts (${t})`;
+    M.warn(n), this._deps.emit("sessionStopped", { reason: "reconnect_failed", message: n }), this._emitError(new Error(n));
   }
   /**
    * Cancellable backoff sleep — `cancelRedial` wakes it immediately.
@@ -667,25 +667,25 @@ class be {
       this._lastDcInboundAt = e, this._dcSilenceNudged = !1;
       return;
     }
-    const n = e - this._lastDcInboundAt;
-    if (n < ge) return;
+    const r = e - this._lastDcInboundAt;
+    if (r < ge) return;
     if (!this._dcSilenceNudged) {
       this._dcSilenceNudged = !0, this._deps.nudgeState();
       return;
     }
-    if (n < we) return;
+    if (r < we) return;
     this._dcSilenceNudged = !1;
-    const r = `No data-channel traffic for ${n}ms`;
-    this.maybeBeginRedial(r) || (this.stopDcWatchdog(), this._emitError(new Error(r)));
+    const n = `No data-channel traffic for ${r}ms`;
+    this.maybeBeginRedial(n) || (this.stopDcWatchdog(), this._emitError(new Error(n)));
   }
 }
 function ye(s, e, t) {
   return Promise.race([
     s,
-    new Promise((n, r) => setTimeout(() => r(new Error(t)), e))
+    new Promise((r, n) => setTimeout(() => n(new Error(t)), e))
   ]);
 }
-const z = "0.0.0-managed-by-ci", Se = O("sdk");
+const z = "0.0.0-managed-by-ci", Se = $("sdk");
 function ve() {
   if (typeof window > "u" || !window.location.hash) return;
   const s = window.location.hash.startsWith("#") ? window.location.hash.slice(1) : window.location.hash;
@@ -697,9 +697,9 @@ function ve() {
   }
   const t = e.get("hf_token");
   if (!t) return;
-  const n = e.get("hf_username") || "user", r = e.get("hf_token_expires"), i = r && !Number.isNaN(new Date(r).getTime()) ? r : new Date(Date.now() + 365 * 24 * 60 * 60 * 1e3).toISOString();
+  const r = e.get("hf_username") || "user", n = e.get("hf_token_expires"), i = n && !Number.isNaN(new Date(n).getTime()) ? n : new Date(Date.now() + 365 * 24 * 60 * 60 * 1e3).toISOString();
   try {
-    sessionStorage.setItem("hf_token", t), sessionStorage.setItem("hf_username", n), sessionStorage.setItem("hf_token_expires", i);
+    sessionStorage.setItem("hf_token", t), sessionStorage.setItem("hf_username", r), sessionStorage.setItem("hf_token_expires", i);
   } catch (c) {
     Se.warn("could not persist pre-seeded HF credentials:", c);
   }
@@ -728,15 +728,15 @@ function Re() {
     }
   return null;
 }
-function Ie(s) {
+function ke(s) {
   const e = s.split(`\r
 `);
   let t = !1;
-  for (const n of e)
-    if (n.startsWith("m=audio") ? t = !0 : n.startsWith("m=") && (t = !1), t && n === "a=sendrecv") return !0;
+  for (const r of e)
+    if (r.startsWith("m=audio") ? t = !0 : r.startsWith("m=") && (t = !1), t && r === "a=sendrecv") return !0;
   return !1;
 }
-const j = "hf_token", x = "hf_username", F = "hf_token_expires", U = "hf_token_last_seen", ke = 1440 * 60 * 1e3;
+const j = "hf_token", x = "hf_username", F = "hf_token_expires", U = "hf_token_last_seen", Ie = 1440 * 60 * 1e3;
 function Ee(s) {
   try {
     sessionStorage.setItem(j, s.token), sessionStorage.setItem(x, s.username), sessionStorage.setItem(F, s.expires), sessionStorage.setItem(U, (/* @__PURE__ */ new Date()).toISOString());
@@ -745,22 +745,22 @@ function Ee(s) {
 }
 function Te(s = Date.now()) {
   try {
-    const e = sessionStorage.getItem(j), t = sessionStorage.getItem(x), n = sessionStorage.getItem(F);
-    if (!e || !n) return null;
-    if (new Date(n).getTime() <= s)
-      return N(), null;
-    const r = sessionStorage.getItem(U);
-    if (r !== null) {
-      const i = new Date(r).getTime();
-      if (!Number.isFinite(i) || s - i > ke)
-        return N(), null;
+    const e = sessionStorage.getItem(j), t = sessionStorage.getItem(x), r = sessionStorage.getItem(F);
+    if (!e || !r) return null;
+    if (new Date(r).getTime() <= s)
+      return O(), null;
+    const n = sessionStorage.getItem(U);
+    if (n !== null) {
+      const i = new Date(n).getTime();
+      if (!Number.isFinite(i) || s - i > Ie)
+        return O(), null;
     }
-    return sessionStorage.setItem(U, new Date(s).toISOString()), { token: e, username: t ?? "", expires: n };
+    return sessionStorage.setItem(U, new Date(s).toISOString()), { token: e, username: t ?? "", expires: r };
   } catch {
     return null;
   }
 }
-function N() {
+function O() {
   try {
     sessionStorage.removeItem(j), sessionStorage.removeItem(x), sessionStorage.removeItem(F), sessionStorage.removeItem(U);
   } catch {
@@ -787,12 +787,12 @@ function De() {
 function K() {
   return "u" + Math.random().toString(36).slice(2, 11) + Date.now().toString(36);
 }
-function $(s) {
+function N(s) {
   let e = "";
-  for (let n = 0; n < s.length; n += 32768)
+  for (let r = 0; r < s.length; r += 32768)
     e += String.fromCharCode.apply(
       null,
-      Array.from(s.subarray(n, n + 32768))
+      Array.from(s.subarray(r, r + 32768))
     );
   return btoa(e);
 }
@@ -800,7 +800,7 @@ async function Ue(s) {
   const e = new TextEncoder().encode(s), t = await new Response(
     new Blob([e]).stream().pipeThrough(new CompressionStream("gzip"))
   ).arrayBuffer();
-  return $(new Uint8Array(t));
+  return N(new Uint8Array(t));
 }
 function Y(s) {
   const e = Math.round(Number(s) || 0);
@@ -829,7 +829,7 @@ function X(s) {
       return "wav-base64";
   }
 }
-const _ = O("sdk"), Q = 750, Le = 5e3;
+const _ = $("sdk"), Q = 750, Le = 5e3;
 class Be extends EventTarget {
   // ─── Config ──────────────────────────────────────────────────────────
   _signalingUrl;
@@ -870,6 +870,8 @@ class Be extends EventTarget {
   _pendingRemoteIce = [];
   // ─── Audio ───────────────────────────────────────────────────────────
   _micStream = null;
+  _robotAudioTrack = null;
+  _outgoingAudioTrack = null;
   _micMuted = !0;
   _audioMuted = !0;
   _micSupported = !1;
@@ -913,8 +915,8 @@ class Be extends EventTarget {
       selectedRobotId: () => this._selectedRobotId,
       rejectPendingSession: (t) => {
         if (!this._sessionReject) return !1;
-        const n = this._sessionReject;
-        return this._sessionResolve = null, this._sessionReject = null, n(t), !0;
+        const r = this._sessionReject;
+        return this._sessionResolve = null, this._sessionReject = null, r(t), !0;
       },
       reconnectSignaling: () => this.connect(),
       // The private dial skips the public startSession()'s
@@ -924,7 +926,7 @@ class Be extends EventTarget {
       nudgeState: () => {
         this.requestState();
       },
-      emit: (t, n) => this._emit(t, n)
+      emit: (t, r) => this._emit(t, r)
     }, { autoReconnect: e.autoReconnect !== !1 });
   }
   // ─── Read-only properties ────────────────────────────────────────────
@@ -967,6 +969,14 @@ class Be extends EventTarget {
   get peerConnection() {
     return this._pc;
   }
+  /**
+   * The robot's microphone as a live audio track, or `null` until the
+   * session's audio arrives (see the `audioTrack` event). Feed it to Web
+   * Audio, `MediaRecorder` or `SpeechRecognition.start(track)`.
+   */
+  get robotAudioTrack() {
+    return this._robotAudioTrack;
+  }
   /**
    * Build version of this SDK (npm package `version`), injected from
    * package.json at build time. This is the JS SDK's OWN version and is
@@ -989,12 +999,12 @@ class Be extends EventTarget {
    * SDK is already `connected` still triggers the auto-start.
    */
   _maybeAutoStart() {
-    if (!this._autoStartFromUrl || this._autoStartAttempted || !this._preselectedRobotId || this._state !== "connected" || !this._robots.find((n) => n.id === this._preselectedRobotId)) return;
+    if (!this._autoStartFromUrl || this._autoStartAttempted || !this._preselectedRobotId || this._state !== "connected" || !this._robots.find((r) => r.id === this._preselectedRobotId)) return;
     this._autoStartAttempted = !0;
     const t = this._preselectedRobotId;
     setTimeout(() => {
-      this._state === "connected" && this.startSession(t).catch((n) => {
-        _.warn("autoStartFromUrl: startSession rejected:", n);
+      this._state === "connected" && this.startSession(t).catch((r) => {
+        _.warn("autoStartFromUrl: startSession rejected:", r);
       });
     }, 0);
   }
@@ -1011,8 +1021,8 @@ class Be extends EventTarget {
           username: this._username ?? "",
           expires: typeof this._tokenExpires == "string" ? this._tokenExpires : this._tokenExpires.toISOString()
         }), !0;
-      const n = Te();
-      return n && n.username ? (this._token = n.token, this._username = n.username, this._tokenExpires = n.expires, !0) : !1;
+      const r = Te();
+      return r && r.username ? (this._token = r.token, this._username = r.username, this._tokenExpires = r.expires, !0) : !1;
     } catch (e) {
       return _.error("authenticate failed:", e), !1;
     }
@@ -1020,15 +1030,15 @@ class Be extends EventTarget {
   async login(e) {
     const t = {};
     this._clientId && (t.clientId = this._clientId);
-    let n = await ce(t);
+    let r = await ce(t);
     if (e?.prompt) {
-      const r = new URL(n);
-      r.searchParams.set("prompt", e.prompt), n = r.toString();
+      const n = new URL(r);
+      n.searchParams.set("prompt", e.prompt), r = n.toString();
     }
-    window.location.href = n;
+    window.location.href = r;
   }
   logout() {
-    N(), this._username = null, this._tokenExpires = null, this.disconnect();
+    O(), this._username = null, this._tokenExpires = null, this.disconnect();
   }
   // ─── Lifecycle ───────────────────────────────────────────────────────
   async connect(e) {
@@ -1044,12 +1054,12 @@ class Be extends EventTarget {
           headers: { Authorization: `Bearer ${this._token}` }
         }
       );
-    } catch (n) {
-      throw this._sseAbortController = null, n;
+    } catch (r) {
+      throw this._sseAbortController = null, r;
     }
     if (!t.ok)
       throw this._sseAbortController = null, new Error(`HTTP ${t.status}`);
-    return new Promise((n, r) => {
+    return new Promise((r, n) => {
       let i = !1;
       const o = t.body.getReader(), a = new TextDecoder();
       let c = "";
@@ -1070,25 +1080,25 @@ class Be extends EventTarget {
                     type: "setPeerStatus",
                     roles: ["listener"],
                     meta: { name: this._appName }
-                  }), this._emit("connected", { peerId: f.peerId }), n()), this._handleSignalingMessage(f);
+                  }), this._emit("connected", { peerId: f.peerId }), r()), this._handleSignalingMessage(f);
                 } catch {
                 }
           }
         } catch (u) {
           if (u.name !== "AbortError" && this._emit("error", { source: "signaling", error: u }), !i) {
-            r(u);
+            n(u);
             return;
           }
         }
-        this._state !== "disconnected" && (this._state = "disconnected", this._emit("disconnected", { reason: "SSE closed" })), i || r(new Error("Connection closed before welcome"));
+        this._state !== "disconnected" && (this._state = "disconnected", this._emit("disconnected", { reason: "SSE closed" })), i || n(new Error("Connection closed before welcome"));
       })();
     });
   }
   async autoConnect(e = {}) {
     const {
       token: t,
-      pickRobot: n,
-      autoPickIfSingle: r = !0,
+      pickRobot: r,
+      autoPickIfSingle: n = !0,
       filterBusy: i = !0,
       wakeOnConnect: o = !0
     } = e;
@@ -1121,10 +1131,10 @@ class Be extends EventTarget {
         const u = await this._fetchOwnedRobots({ filterBusy: i });
         if (u.length === 0)
           throw new Error("No reachable robots");
-        if (r && u.length === 1 && !u[0].busy)
+        if (n && u.length === 1 && !u[0].busy)
           c = u[0].id, d = u[0].name;
-        else if (n) {
-          const l = await n(u);
+        else if (r) {
+          const l = await r(u);
           if (!l) throw new Error("Robot selection cancelled");
           c = l, d = u.find((m) => m.id === l)?.name ?? null;
         } else
@@ -1149,11 +1159,11 @@ class Be extends EventTarget {
         headers: { Authorization: `Bearer ${this._token}` }
       });
       if (!t.ok) throw new Error(`HTTP ${t.status}`);
-      const n = await t.json(), r = /* @__PURE__ */ new Map();
-      for (const i of n.robots || []) {
+      const r = await t.json(), n = /* @__PURE__ */ new Map();
+      for (const i of r.robots || []) {
         if (e && i.busy) continue;
         const o = i.meta?.install_id ?? i.meta?.hardware_id ?? i.peerId;
-        r.set(o, {
+        n.set(o, {
           id: i.peerId,
           name: i.robotName ?? i.meta?.name ?? null,
           busy: !!i.busy,
@@ -1162,26 +1172,26 @@ class Be extends EventTarget {
           lastSeenAgeSeconds: i.last_seen_age_seconds ?? null
         });
       }
-      return Array.from(r.values()).sort(
+      return Array.from(n.values()).sort(
         (i, o) => (i.lastSeenAgeSeconds ?? 1 / 0) - (o.lastSeenAgeSeconds ?? 1 / 0)
       );
     } catch (t) {
-      return _.warn("/api/robot-status unavailable, using SSE list:", t), (this._robots || []).map((n) => ({
-        id: n.id,
-        name: n.meta?.name ?? null,
+      return _.warn("/api/robot-status unavailable, using SSE list:", t), (this._robots || []).map((r) => ({
+        id: r.id,
+        name: r.meta?.name ?? null,
         busy: !1,
         activeApp: null,
-        meta: n.meta ?? {},
+        meta: r.meta ?? {},
         lastSeenAgeSeconds: null
       }));
     }
   }
   _waitForRobotInList(e, t) {
-    return this._robots?.find((n) => n.id === e) ? Promise.resolve() : new Promise((n, r) => {
+    return this._robots?.find((r) => r.id === e) ? Promise.resolve() : new Promise((r, n) => {
       const i = () => {
-        this._robots?.find((a) => a.id === e) && (this.removeEventListener("robotsChanged", i), clearTimeout(o), n());
+        this._robots?.find((a) => a.id === e) && (this.removeEventListener("robotsChanged", i), clearTimeout(o), r());
       }, o = setTimeout(() => {
-        this.removeEventListener("robotsChanged", i), r(new Error(`Timeout waiting for robot ${e} in list`));
+        this.removeEventListener("robotsChanged", i), n(new Error(`Timeout waiting for robot ${e} in list`));
       }, t);
       this.addEventListener("robotsChanged", i);
     });
@@ -1193,9 +1203,9 @@ class Be extends EventTarget {
     if (this._state !== "connected") throw new Error("Not connected");
     this._selectedRobotId = e, this._iceConnected = !1, this._dcOpen = !1, this._micSupported = !1, this._pendingRemoteIce = [];
     try {
-      const t = window, n = t.AudioContext ?? t.webkitAudioContext;
-      if (!n) throw new Error("AudioContext not supported");
-      const r = new n(), i = r.createMediaStreamDestination(), o = r.createOscillator(), a = r.createGain();
+      const t = window, r = t.AudioContext ?? t.webkitAudioContext;
+      if (!r) throw new Error("AudioContext not supported");
+      const n = new r(), i = n.createMediaStreamDestination(), o = n.createOscillator(), a = n.createGain();
       a.gain.value = 0, o.connect(a).connect(i), o.start();
       const c = i.stream;
       c.getAudioTracks().forEach((d) => {
@@ -1206,48 +1216,48 @@ class Be extends EventTarget {
     }
     return this._pc = new RTCPeerConnection({
       iceServers: [{ urls: "stun:stun.l.google.com:19302" }]
-    }), this._supervisor.installNetworkListeners(), new Promise((t, n) => {
-      this._sessionResolve = t, this._sessionReject = n, this._pc.ontrack = (r) => {
-        if (r.track.kind === "video") {
+    }), this._supervisor.installNetworkListeners(), new Promise((t, r) => {
+      this._sessionResolve = t, this._sessionReject = r, this._pc.ontrack = (n) => {
+        if (n.track.kind === "video") {
           const i = this._videoJitterBufferTargetMs;
           try {
-            r.receiver.jitterBufferTarget = i;
+            n.receiver.jitterBufferTarget = i;
           } catch {
           }
           try {
-            r.receiver.playoutDelayHint = i / 1e3;
+            n.receiver.playoutDelayHint = i / 1e3;
           } catch {
           }
-          this._emit("videoTrack", { track: r.track, stream: r.streams[0] });
-        }
-      }, this._pc.onicecandidate = async (r) => {
-        r.candidate && this._sessionId && await this._sendToServer({
+          this._emit("videoTrack", { track: n.track, stream: n.streams[0] });
+        } else n.track.kind === "audio" && (this._robotAudioTrack = n.track, this._emit("audioTrack", { track: n.track, stream: n.streams[0] }));
+      }, this._pc.onicecandidate = async (n) => {
+        n.candidate && this._sessionId && await this._sendToServer({
           type: "peer",
           sessionId: this._sessionId,
           ice: {
-            candidate: r.candidate.candidate,
-            sdpMLineIndex: r.candidate.sdpMLineIndex,
-            sdpMid: r.candidate.sdpMid
+            candidate: n.candidate.candidate,
+            sdpMLineIndex: n.candidate.sdpMLineIndex,
+            sdpMid: n.candidate.sdpMid
           }
         });
       }, this._pc.oniceconnectionstatechange = () => {
-        const r = this._pc?.iceConnectionState;
-        if (r) {
-          if (this._emit("iceStateChange", { state: r }), r === "connected" || r === "completed") {
+        const n = this._pc?.iceConnectionState;
+        if (n) {
+          if (this._emit("iceStateChange", { state: n }), n === "connected" || n === "completed") {
             this._supervisor.onIceHealed(), this._iceConnected = !0, this._checkSessionReady();
             return;
           }
-          if (r === "disconnected") {
+          if (n === "disconnected") {
             this._supervisor.onIceDisconnected();
             return;
           }
-          if (r === "failed") {
+          if (n === "failed") {
             this._supervisor.onIceFailed();
             return;
           }
         }
-      }, this._pc.ondatachannel = (r) => {
-        const i = r.channel;
+      }, this._pc.ondatachannel = (n) => {
+        const i = n.channel;
         if (i.label === "pose") {
           this._lastPoseSeq = null, i.onmessage = (a) => {
             const c = JSON.parse(a.data);
@@ -1267,12 +1277,12 @@ class Be extends EventTarget {
           const c = o.accept(JSON.parse(a.data));
           c && this._handleRobotMessage(c);
         };
-      }, this._sendToServer({ type: "startSession", peerId: e }).then((r) => {
-        if (r?.type === "sessionRejected") {
-          this._failSessionRejected(r);
+      }, this._sendToServer({ type: "startSession", peerId: e }).then((n) => {
+        if (n?.type === "sessionRejected") {
+          this._failSessionRejected(n);
           return;
         }
-        r?.sessionId && (this._sessionId = r.sessionId);
+        n?.sessionId && (this._sessionId = n.sessionId);
       });
     });
   }
@@ -1289,10 +1299,10 @@ class Be extends EventTarget {
    */
   _closeTransport(e) {
     if (this._pending.settleAll(e), this._sessionReject) {
-      const n = this._sessionReject;
-      this._sessionResolve = null, this._sessionReject = null, n(e);
+      const r = this._sessionReject;
+      this._sessionResolve = null, this._sessionReject = null, r(e);
     }
-    this._sessionResolve = null, this._supervisor.clearIceGrace(), this._supervisor.uninstallNetworkListeners(), this._supervisor.stopDcWatchdog(), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._micStream && (this._micStream.getTracks().forEach((n) => n.stop()), this._micStream = null), this._micMuted = !0, this._micSupported = !1, this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._iceConnected = !1, this._dcOpen = !1;
+    this._sessionResolve = null, this._supervisor.clearIceGrace(), this._supervisor.uninstallNetworkListeners(), this._supervisor.stopDcWatchdog(), this._stateRefreshInterval && (clearInterval(this._stateRefreshInterval), this._stateRefreshInterval = null), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), this._micStream && (this._micStream.getTracks().forEach((r) => r.stop()), this._micStream = null), this._robotAudioTrack = null, this._micMuted = !0, this._micSupported = !1, this._pc && (this._pc.close(), this._pc = null), this._dc && (this._dc.close(), this._dc = null), this._iceConnected = !1, this._dcOpen = !1;
     const t = this._sessionId;
     return this._sessionId = null, t;
   }
@@ -1303,12 +1313,12 @@ class Be extends EventTarget {
     t.reason = e.reason ?? null, t.activeApp = e.activeApp ?? null, this._closeTransport(t), this._supervisor.redialing || this._emit("sessionRejected", { reason: e.reason, activeApp: e.activeApp });
   }
   async stopSession() {
-    this._supervisor.cancelRedial(), this._logSubscribers.clear(), this._updateProgressSubscribers.clear();
+    this._supervisor.cancelRedial(), this._logSubscribers.clear(), this._updateProgressSubscribers.clear(), this._outgoingAudioTrack = null;
     const e = this._closeTransport(new Error("Session stopped"));
     e && await this._sendToServer({ type: "endSession", sessionId: e }), this._state === "streaming" && (this._state = "connected", this._emit("sessionStopped", { reason: "user" }));
   }
   disconnect() {
-    this._supervisor.cancelRedial(), this._sseAbortController && (this._sseAbortController.abort(), this._sseAbortController = null), this._logSubscribers.clear(), this._updateProgressSubscribers.clear();
+    this._supervisor.cancelRedial(), this._sseAbortController && (this._sseAbortController.abort(), this._sseAbortController = null), this._logSubscribers.clear(), this._updateProgressSubscribers.clear(), this._outgoingAudioTrack = null;
     const e = this._closeTransport(new Error("Disconnected"));
     e && this._token && this._sendToServer({ type: "endSession", sessionId: e }), this._robots = [], this._state = "disconnected", this._emit("disconnected", { reason: "user" });
   }
@@ -1391,32 +1401,32 @@ class Be extends EventTarget {
    * @returns `true` if the command was queued on the data channel,
    *          `false` if the channel is not open.
    */
-  setTarget({ head: e, antennas: t, body_yaw: n } = {}) {
-    const r = { type: "set_full_target" };
+  setTarget({ head: e, antennas: t, body_yaw: r } = {}) {
+    const n = { type: "set_full_target" };
     if (e !== void 0) {
       if (!Array.isArray(e) || e.length !== 16 || !e.every((i) => Number.isFinite(i)))
         throw new TypeError(
           `setTarget: head must be a 16-element flat row-major 4×4 matrix of finite numbers; got ${Array.isArray(e) ? `Array(${e.length})` : typeof e}`
         );
-      r.head = e;
+      n.head = e;
     }
     if (t !== void 0) {
       if (!Array.isArray(t) || t.length !== 2 || !t.every((i) => Number.isFinite(i)))
         throw new TypeError(
           `setTarget: antennas must be [rightRad, leftRad] (2 finite numbers); got ${Array.isArray(t) ? `Array(${t.length})` : typeof t}`
         );
-      r.antennas = t;
+      n.antennas = t;
     }
-    if (n !== void 0) {
-      if (!Number.isFinite(n))
+    if (r !== void 0) {
+      if (!Number.isFinite(r))
         throw new TypeError(
-          `setTarget: body_yaw must be a finite number (radians); got ${n}`
+          `setTarget: body_yaw must be a finite number (radians); got ${r}`
         );
-      r.body_yaw = n;
+      n.body_yaw = r;
     }
-    return this._sendCommand(r);
+    return this._sendCommand(n);
   }
-  gotoTarget({ head: e, antennas: t, body_yaw: n, duration: r }) {
+  gotoTarget({ head: e, antennas: t, body_yaw: r, duration: n }) {
     const i = { type: "goto_target" };
     if (e !== void 0) {
       if (!Array.isArray(e) || e.length !== 16 || !e.every((o) => Number.isFinite(o)))
@@ -1432,40 +1442,40 @@ class Be extends EventTarget {
         );
       i.antennas = t;
     }
-    if (n !== void 0) {
-      if (!Number.isFinite(n))
+    if (r !== void 0) {
+      if (!Number.isFinite(r))
         throw new TypeError(
-          `gotoTarget: body_yaw must be a finite number (radians); got ${n}`
+          `gotoTarget: body_yaw must be a finite number (radians); got ${r}`
         );
-      i.body_yaw = n;
+      i.body_yaw = r;
     }
-    if (!Number.isFinite(r) || r <= 0)
+    if (!Number.isFinite(n) || n <= 0)
       throw new TypeError(
-        `gotoTarget: duration must be a positive finite number (seconds); got ${r}`
+        `gotoTarget: duration must be a positive finite number (seconds); got ${n}`
       );
-    return i.duration = r, this._sendCommand(i);
+    return i.duration = n, this._sendCommand(i);
   }
-  setHeadRpyDeg(e, t, n) {
-    return this.setTarget({ head: ue(e, t, n).flat() });
+  setHeadRpyDeg(e, t, r) {
+    return this.setTarget({ head: ue(e, t, r).flat() });
   }
   setAntennasDeg(e, t) {
-    return this.setTarget({ antennas: [I(e), I(t)] });
+    return this.setTarget({ antennas: [k(e), k(t)] });
   }
   setBodyYawDeg(e) {
-    return this.setTarget({ body_yaw: I(e) });
+    return this.setTarget({ body_yaw: k(e) });
   }
   playSound(e) {
     return this._sendCommand({ type: "play_sound", file: e });
   }
   playRecordedMove(e, {
     dataset: t,
-    initialGotoDuration: n
+    initialGotoDuration: r
   } = {}) {
     return this._sendCommand({
       type: "play_recorded_move",
       move_name: e,
       ...t ? { dataset_name: t } : {},
-      ...n && n > 0 ? { initial_goto_duration: n } : {}
+      ...r && r > 0 ? { initial_goto_duration: r } : {}
     });
   }
   /**
@@ -1492,11 +1502,11 @@ class Be extends EventTarget {
    */
   preloadDatasetAndWait(e, { timeoutMs: t = 12e4 } = {}) {
     return this.preloadDataset(e) ? this._pending.awaitBroadcast(
-      (n) => n.command === "preload_dataset" && n.dataset_name === e,
+      (r) => r.command === "preload_dataset" && r.dataset_name === e,
       { timeoutMs: t, debugLabel: `preload_dataset(${e})` }
-    ).then((n) => n.status === "ok").catch((n) => {
-      if (n instanceof P) return null;
-      throw n;
+    ).then((r) => r.status === "ok").catch((r) => {
+      if (r instanceof P) return null;
+      throw r;
     }) : Promise.reject(new Error("Data channel not open"));
   }
   clearIncomingAudio() {
@@ -1555,11 +1565,11 @@ class Be extends EventTarget {
     return e === "enabled" || e === "gravity_compensation";
   }
   async ensureAwake(e = 1e3) {
-    if (this._robotState?.motor_mode === void 0 && await new Promise((n) => {
-      const r = () => {
-        this.removeEventListener("state", r), clearTimeout(i), n();
-      }, i = setTimeout(r, e);
-      this.addEventListener("state", r), this.requestState();
+    if (this._robotState?.motor_mode === void 0 && await new Promise((r) => {
+      const n = () => {
+        this.removeEventListener("state", n), clearTimeout(i), r();
+      }, i = setTimeout(n, e);
+      this.addEventListener("state", n), this.requestState();
     }), this._robotState?.motor_mode === "gravity_compensation")
       return _.info("ensureAwake: gravity compensation inherited, flipping to enabled (no emote)"), this.setMotorMode("enabled"), this.requestState(), !0;
     if (this.isAwake())
@@ -1568,8 +1578,8 @@ class Be extends EventTarget {
     const t = Date.now();
     try {
       await this.wakeUp({ timeoutMs: Le }), _.info(`ensureAwake: wake-up trajectory done in ${Date.now() - t}ms`);
-    } catch (n) {
-      _.warn(`ensureAwake: wake-up not confirmed after ${Date.now() - t}ms (continuing):`, n);
+    } catch (r) {
+      _.warn(`ensureAwake: wake-up not confirmed after ${Date.now() - t}ms (continuing):`, r);
     }
     return !0;
   }
@@ -1659,7 +1669,7 @@ class Be extends EventTarget {
     return this._slotRoundtrip("delete_hf_token", { type: "delete_hf_token" });
   }
   applyAudioConfig(e, { verify: t = !0 } = {}) {
-    return this._slotRoundtrip("apply_audio_config", { type: "apply_audio_config", config: e, verify: t }).then((n) => n === !0);
+    return this._slotRoundtrip("apply_audio_config", { type: "apply_audio_config", config: e, verify: t }).then((r) => r === !0);
   }
   readAudioParameter(e) {
     return this._slotRoundtrip("read_audio_parameter", { type: "read_audio_parameter", name: e });
@@ -1695,11 +1705,11 @@ class Be extends EventTarget {
    * reach this matcher - use the typed wrappers for those. Pass `match`
    * for replies that don't follow the `command` echo convention.
    */
-  request(e, { timeoutMs: t = ee, match: n } = {}) {
+  request(e, { timeoutMs: t = ee, match: r } = {}) {
     if (!this._sendCommand(e))
       return Promise.reject(new Error("Data channel not open"));
-    const r = n ?? ((i) => i.command === e.type);
-    return this._pending.awaitBroadcast(r, { timeoutMs: t, debugLabel: `request(${e.type})` }).catch((i) => {
+    const n = r ?? ((i) => i.command === e.type);
+    return this._pending.awaitBroadcast(n, { timeoutMs: t, debugLabel: `request(${e.type})` }).catch((i) => {
       if (i instanceof P) return null;
       throw i;
     });
@@ -1707,11 +1717,11 @@ class Be extends EventTarget {
   subscribeLogs({ onLine: e, onError: t }) {
     if (typeof e != "function")
       throw new TypeError("subscribeLogs: onLine callback is required");
-    const n = { onLine: e, onError: t }, r = this._logSubscribers.size === 0;
-    this._logSubscribers.add(n), r && this._sendCommand({ type: "subscribe_logs" });
+    const r = { onLine: e, onError: t }, n = this._logSubscribers.size === 0;
+    this._logSubscribers.add(r), n && this._sendCommand({ type: "subscribe_logs" });
     let i = !1;
     return () => {
-      i || (i = !0, this._logSubscribers.delete(n), this._logSubscribers.size === 0 && this._sendCommand({ type: "unsubscribe_logs" }));
+      i || (i = !0, this._logSubscribers.delete(r), this._logSubscribers.size === 0 && this._sendCommand({ type: "unsubscribe_logs" }));
     };
   }
   requestState() {
@@ -1745,24 +1755,49 @@ class Be extends EventTarget {
       t.enabled = !e;
     });
   }
+  /**
+   * Stream an audio track to the robot's speaker in real time (TTS output,
+   * a WebAudio graph, the user's own mic for teleop…). Pass `null` to go
+   * back to silence. The track survives auto-reconnects; the app keeps
+   * ownership of it (the SDK never stops it).
+   *
+   * Resolves `true` once the track is on the wire, `false` when there is
+   * no live session yet (it is then applied as soon as one starts) or when
+   * the robot didn't offer two-way audio. Cleared by `stopSession()` /
+   * `disconnect()`. `setMicMuted()` only mutes the SDK's placeholder, not
+   * this track — stop or disable the track itself to go quiet.
+   * For clips that must stay in sync with motion, prefer
+   * `playMove(motion, { audioBlob })` or `uploadAudio` + `playUploadedAudio`.
+   */
+  async setOutgoingAudioTrack(e) {
+    if (e && e.kind !== "audio")
+      throw new TypeError(`setOutgoingAudioTrack: expected an audio track, got "${e.kind}"`);
+    return this._outgoingAudioTrack = e, this._applyOutgoingAudioTrack();
+  }
+  async _applyOutgoingAudioTrack() {
+    const e = this._pc?.getTransceivers().find((r) => r.receiver.track.kind === "audio")?.sender;
+    if (!e || !this._micSupported) return !1;
+    const t = this._micStream?.getAudioTracks()[0] ?? null;
+    return await e.replaceTrack(this._outgoingAudioTrack ?? t), !0;
+  }
   // ─── Video helper ────────────────────────────────────────────────────
   attachVideo(e) {
     this._videoElement = e, e.muted = this._audioMuted;
-    const t = (r) => {
-      const i = r;
+    const t = (n) => {
+      const i = n;
       e.srcObject = i.detail.stream, e.playsInline = !0, "requestVideoFrameCallback" in e && this._startLatencyMonitor(e);
-    }, n = () => {
+    }, r = () => {
       e.srcObject = null;
     };
-    return this.addEventListener("videoTrack", t), this.addEventListener("sessionStopped", n), () => {
-      this.removeEventListener("videoTrack", t), this.removeEventListener("sessionStopped", n), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), e.srcObject = null, this._videoElement = null;
+    return this.addEventListener("videoTrack", t), this.addEventListener("sessionStopped", r), () => {
+      this.removeEventListener("videoTrack", t), this.removeEventListener("sessionStopped", r), this._latencyMonitorId && (clearInterval(this._latencyMonitorId), this._latencyMonitorId = null), e.srcObject = null, this._videoElement = null;
     };
   }
   // ─── Daemon-side recorded-move playback ──────────────────────────────
   async playMove(e, {
     audioBlob: t = null,
-    audioLeadMs: n = -100,
-    description: r = "move",
+    audioLeadMs: r = -100,
+    description: n = "move",
     encoding: i = "gzip+base64",
     playFrequency: o = 100,
     initialGotoDuration: a = 0,
@@ -1779,7 +1814,7 @@ class Be extends EventTarget {
     const l = K();
     this._activeMoveUploadId = l;
     const m = {
-      description: r,
+      description: n,
       time: e.time,
       set_target_data: e.set_target_data
     }, g = JSON.stringify(m);
@@ -1796,7 +1831,7 @@ class Be extends EventTarget {
       type: "upload_move_start",
       upload_id: l,
       total_chunks: w,
-      description: r,
+      description: n,
       encoding: v
     });
     for (let h = 0; h < w; h++) {
@@ -1810,7 +1845,7 @@ class Be extends EventTarget {
       }), d({ phase: "upload", sent: h + 1, total: w });
     }
     if (this._sendCommand({ type: "upload_move_finish", upload_id: l }), d({ phase: "uploaded", sent: w, total: w }), t) {
-      const h = new Uint8Array(await t.arrayBuffer()), p = $(h), R = Math.ceil(p.length / y) || 1;
+      const h = new Uint8Array(await t.arrayBuffer()), p = N(h), R = Math.ceil(p.length / y) || 1;
       d({
         phase: "audio-starting",
         sent: 0,
@@ -1821,7 +1856,7 @@ class Be extends EventTarget {
         upload_id: l,
         total_chunks: R,
         encoding: X(t),
-        description: r
+        description: n
       });
       for (let T = 0; T < R; T++) {
         this._dc.bufferedAmount > L && await this._awaitDataChannelDrain();
@@ -1840,7 +1875,7 @@ class Be extends EventTarget {
       upload_id: l,
       play_frequency: o,
       initial_goto_duration: a,
-      audio_lead_ms: n
+      audio_lead_ms: r
     });
     let b;
     try {
@@ -1877,16 +1912,16 @@ class Be extends EventTarget {
     const t = e ?? this._activeMoveUploadId;
     return t ? this._sendCommand({ type: "cancel_move", upload_id: t }) : !1;
   }
-  async uploadAudio(e, { description: t = "audio", onProgress: n = () => {
+  async uploadAudio(e, { description: t = "audio", onProgress: r = () => {
   } } = {}) {
     if (!this._dc || this._dc.readyState !== "open")
       throw new Error("data channel not open");
     if (!(e instanceof Blob))
       throw new TypeError("uploadAudio: expected a Blob");
-    const r = K(), i = new Uint8Array(await e.arrayBuffer()), o = $(i), a = Math.ceil(o.length / y) || 1;
-    n({ phase: "audio-starting", sent: 0, total: a, bytes: o.length }), this._sendCommand({
+    const n = K(), i = new Uint8Array(await e.arrayBuffer()), o = N(i), a = Math.ceil(o.length / y) || 1;
+    r({ phase: "audio-starting", sent: 0, total: a, bytes: o.length }), this._sendCommand({
       type: "upload_audio_start",
-      upload_id: r,
+      upload_id: n,
       total_chunks: a,
       encoding: X(e),
       description: t
@@ -1896,24 +1931,24 @@ class Be extends EventTarget {
       const d = c * y;
       this._sendCommand({
         type: "upload_audio_chunk",
-        upload_id: r,
+        upload_id: n,
         chunk_index: c,
         chunk: o.slice(d, d + y)
-      }), n({ phase: "audio-upload", sent: c + 1, total: a });
+      }), r({ phase: "audio-upload", sent: c + 1, total: a });
     }
-    return this._sendCommand({ type: "upload_audio_finish", upload_id: r }), n({ phase: "audio-uploaded", sent: a, total: a }), r;
+    return this._sendCommand({ type: "upload_audio_finish", upload_id: n }), r({ phase: "audio-uploaded", sent: a, total: a }), n;
   }
   async playUploadedAudio(e, { timeoutMs: t = 8e3 } = {}) {
     if (!this._dc || this._dc.readyState !== "open")
       throw new Error("data channel not open");
-    const n = this._waitForBroadcast(
+    const r = this._waitForBroadcast(
       (i) => i?.type === "play_uploaded_audio" && i?.upload_id === e && (i.started === !0 || typeof i.error == "string"),
       { timeoutMs: t, debugLabel: "play_uploaded_audio started" }
     );
     this._sendCommand({ type: "play_uploaded_audio", upload_id: e });
-    const r = await n;
-    if (typeof r.error == "string") throw new Error(r.error);
-    return this._activeAudioUploadId = e, r;
+    const n = await r;
+    if (typeof n.error == "string") throw new Error(n.error);
+    return this._activeAudioUploadId = e, n;
   }
   cancelAudio(e = null) {
     const t = e ?? this._activeAudioUploadId;
@@ -1943,13 +1978,13 @@ class Be extends EventTarget {
         body: JSON.stringify(e)
       });
       if (!t.ok) {
-        let n = "";
+        let r = "";
         try {
-          n = await t.text();
+          r = await t.text();
         } catch {
         }
         return _.warn(
-          `/send rejected (${t.status}) for type=${e?.type}; body=${n || "<empty>"}`
+          `/send rejected (${t.status}) for type=${e?.type}; body=${r || "<empty>"}`
         ), null;
       }
       return await t.json();
@@ -1967,11 +2002,11 @@ class Be extends EventTarget {
    * `conversation.say`). Rejects on the JSON-RPC error, a closed channel, or
    * timeout.
    */
-  rpcCall(e, t = {}, n = {}) {
-    const r = n.timeoutMs ?? 2e4;
+  rpcCall(e, t = {}, r = {}) {
+    const n = r.timeoutMs ?? 2e4;
     return this._pending.rpcRoundtrip(
       e,
-      r,
+      n,
       (i) => this._sendCommand({ jsonrpc: "2.0", id: i, method: e, params: t })
     );
   }
@@ -1980,19 +2015,19 @@ class Be extends EventTarget {
    * robot/app, e.g. `conversation.turn`. Returns an unsubscribe function.
    */
   onNotification(e, t) {
-    let n = this._rpcListeners.get(e);
-    return n || (n = /* @__PURE__ */ new Set(), this._rpcListeners.set(e, n)), n.add(t), () => {
+    let r = this._rpcListeners.get(e);
+    return r || (r = /* @__PURE__ */ new Set(), this._rpcListeners.set(e, r)), r.add(t), () => {
       this._rpcListeners.get(e)?.delete(t);
     };
   }
   _handleRpcMessage(e) {
     if (!this._pending.settleRpcResponse(e) && typeof e.method == "string") {
       const t = e.params ?? {};
-      for (const n of this._rpcListeners.get(e.method) ?? [])
+      for (const r of this._rpcListeners.get(e.method) ?? [])
         try {
-          n(t);
-        } catch (r) {
-          _.error(`onNotification(${e.method}) threw:`, r);
+          r(t);
+        } catch (n) {
+          _.error(`onNotification(${e.method}) threw:`, n);
         }
     }
   }
@@ -2028,19 +2063,19 @@ class Be extends EventTarget {
     }
   }
   _handleEndSession(e) {
-    const t = e.reason, n = t === "robot_busy_local_app" ? "Robot is busy: a local Python app is running" : t === "local_app_started" ? "Disconnected: a local Python app started on the robot" : t === "robot_busy_local" ? "Robot is busy: another session is already active" : null;
+    const t = e.reason, r = t === "robot_busy_local_app" ? "Robot is busy: a local Python app is running" : t === "local_app_started" ? "Disconnected: a local Python app started on the robot" : t === "robot_busy_local" ? "Robot is busy: another session is already active" : null;
     if (this._sessionReject) {
-      const r = new Error(
-        n || `Session ended before it could start: ${t || "unknown reason"}`
+      const n = new Error(
+        r || `Session ended before it could start: ${t || "unknown reason"}`
       );
-      r.reason = t ?? null, this._supervisor.redialing || this._emit("sessionRejected", { reason: t, activeApp: null }), this._supervisor.clearIceGrace(), this._supervisor.uninstallNetworkListeners(), this._pc && (this._pc.close(), this._pc = null), this._micStream && (this._micStream.getTracks().forEach((o) => o.stop()), this._micStream = null), this._iceConnected = !1, this._dcOpen = !1, this._micMuted = !0, this._micSupported = !1;
+      n.reason = t ?? null, this._supervisor.redialing || this._emit("sessionRejected", { reason: t, activeApp: null }), this._supervisor.clearIceGrace(), this._supervisor.uninstallNetworkListeners(), this._pc && (this._pc.close(), this._pc = null), this._micStream && (this._micStream.getTracks().forEach((o) => o.stop()), this._micStream = null), this._robotAudioTrack = null, this._iceConnected = !1, this._dcOpen = !1, this._micMuted = !0, this._micSupported = !1;
       const i = this._sessionReject;
-      this._sessionResolve = null, this._sessionReject = null, i(r);
+      this._sessionResolve = null, this._sessionReject = null, i(n);
       return;
     }
     this._state === "streaming" && (this._emit("sessionStopped", {
       reason: t || "remote_end",
-      message: n
+      message: r
     }), this.stopSession().catch(() => {
     }));
   }
@@ -2050,25 +2085,25 @@ class Be extends EventTarget {
         if (e.sdp) {
           const t = e.sdp;
           if (t.type === "offer") {
-            const r = Ie(t.sdp);
-            if (this._micSupported = r, this._emit("micSupported", { supported: r }), r && this._micStream)
+            const n = ke(t.sdp);
+            if (this._micSupported = n, this._emit("micSupported", { supported: n }), n && this._micStream)
               for (const o of this._micStream.getAudioTracks())
                 this._pc.addTrack(o, this._micStream);
             await this._pc.setRemoteDescription(new RTCSessionDescription(t));
             const i = await this._pc.createAnswer();
-            await this._pc.setLocalDescription(i), await this._sendToServer({
+            await this._pc.setLocalDescription(i), this._outgoingAudioTrack && await this._applyOutgoingAudioTrack().catch((o) => _.warn("re-applying outgoing audio failed:", o)), await this._sendToServer({
               type: "peer",
               sessionId: this._sessionId,
               sdp: { type: "answer", sdp: i.sdp }
             });
           } else
             await this._pc.setRemoteDescription(new RTCSessionDescription(t));
-          const n = this._pendingRemoteIce;
-          if (n && n.length) {
+          const r = this._pendingRemoteIce;
+          if (r && r.length) {
             this._pendingRemoteIce = [];
-            for (const r of n)
+            for (const n of r)
               try {
-                await this._pc.addIceCandidate(new RTCIceCandidate(r));
+                await this._pc.addIceCandidate(new RTCIceCandidate(n));
               } catch (i) {
                 _.warn("buffered ICE candidate rejected:", i);
               }
@@ -2140,30 +2175,30 @@ class Be extends EventTarget {
       }
       if (!((e.command === "wake_up" || e.command === "goto_sleep") && this._pending.settleMotion(e.command, e))) {
         if (e.type === "log_line") {
-          for (const n of this._logSubscribers)
+          for (const r of this._logSubscribers)
             try {
-              n.onLine({ timestamp: e.timestamp, line: e.line });
-            } catch (r) {
-              _.error("subscribeLogs onLine threw:", r);
+              r.onLine({ timestamp: e.timestamp, line: e.line });
+            } catch (n) {
+              _.error("subscribeLogs onLine threw:", n);
             }
           return;
         }
         if (e.type === "log_stream_error") {
-          for (const n of this._logSubscribers)
-            if (typeof n.onError == "function")
+          for (const r of this._logSubscribers)
+            if (typeof r.onError == "function")
               try {
-                n.onError(e.error);
-              } catch (r) {
-                _.error("subscribeLogs onError threw:", r);
+                r.onError(e.error);
+              } catch (n) {
+                _.error("subscribeLogs onError threw:", n);
               }
           return;
         }
         if (e.command === "start_update") {
           if (typeof e.error == "string") {
-            const n = { status: "failed", error: e.error };
-            for (const r of this._updateProgressSubscribers)
+            const r = { status: "failed", error: e.error };
+            for (const n of this._updateProgressSubscribers)
               try {
-                r(n);
+                n(r);
               } catch (i) {
                 _.error("startDaemonUpdate onProgress threw:", i);
               }
@@ -2171,22 +2206,22 @@ class Be extends EventTarget {
           return;
         }
         if (e.type === "update_progress") {
-          const n = {
+          const r = {
             status: e.status,
             line: typeof e.line == "string" ? e.line : void 0,
             error: typeof e.error == "string" ? e.error : void 0
           };
-          for (const r of this._updateProgressSubscribers)
+          for (const n of this._updateProgressSubscribers)
             try {
-              r(n);
+              n(r);
             } catch (i) {
               _.error("startDaemonUpdate onProgress threw:", i);
             }
           return;
         }
         if (e.state && (t || Date.now() - this._lastPoseFrameAt >= Q)) {
-          const n = e.state;
-          n.head_pose && (this._robotState.head = n.head_pose.flat()), n.antennas && (this._robotState.antennas = [n.antennas[0], n.antennas[1]]), n.head_joint_positions && (this._robotState.head_joint_positions = n.head_joint_positions), typeof n.body_yaw == "number" && (this._robotState.body_yaw = n.body_yaw), n.motor_mode && (this._robotState.motor_mode = n.motor_mode), typeof n.is_move_running == "boolean" && (this._robotState.is_move_running = n.is_move_running), n.face_target && (this._robotState.face_target = n.face_target), "doa" in n && (this._robotState.doa = n.doa ?? void 0), "imu" in n && (this._robotState.imu = n.imu ?? void 0), this._emit("state", { ...this._robotState });
+          const r = e.state;
+          r.head_pose && (this._robotState.head = r.head_pose.flat()), r.antennas && (this._robotState.antennas = [r.antennas[0], r.antennas[1]]), r.head_joint_positions && (this._robotState.head_joint_positions = r.head_joint_positions), typeof r.body_yaw == "number" && (this._robotState.body_yaw = r.body_yaw), r.motor_mode && (this._robotState.motor_mode = r.motor_mode), typeof r.is_move_running == "boolean" && (this._robotState.is_move_running = r.is_move_running), r.face_target && (this._robotState.face_target = r.face_target), "doa" in r && (this._robotState.doa = r.doa ?? void 0), "imu" in r && (this._robotState.imu = r.imu ?? void 0), this._emit("state", { ...this._robotState });
         }
         e.error && this._emit("error", { source: "robot", error: e.error }), this._pending.matchBroadcast(e);
       }
@@ -2198,14 +2233,14 @@ class Be extends EventTarget {
       if (!e.srcObject || e.paused) return;
       const t = e.buffered;
       if (t.length > 0) {
-        const n = t.end(t.length - 1), r = n - e.currentTime;
-        r > 0.5 && (_.debug(`video latency correction: was ${r.toFixed(2)}s behind`), e.currentTime = n - 0.1);
+        const r = t.end(t.length - 1), n = r - e.currentTime;
+        n > 0.5 && (_.debug(`video latency correction: was ${n.toFixed(2)}s behind`), e.currentTime = r - 0.1);
       }
     }, 2e3);
   }
 }
-const Pe = "pollen-robotics/reachy_mini", Ne = `https://api.github.com/repos/${Pe}/releases/latest`, te = "reachy.daemonLatestRelease.v1", $e = 360 * 60 * 1e3, ne = "1.8.2";
-function k(s) {
+const Pe = "pollen-robotics/reachy_mini", Oe = `https://api.github.com/repos/${Pe}/releases/latest`, te = "reachy.daemonLatestRelease.v1", Ne = 360 * 60 * 1e3, re = "1.8.2";
+function I(s) {
   if (typeof s != "string") return null;
   const e = s.trim().replace(/^v/i, "").match(/^(\d+)\.(\d+)\.(\d+)/);
   return e ? {
@@ -2217,18 +2252,18 @@ function k(s) {
 function H(s, e) {
   return s.major - e.major || s.minor - e.minor || s.patch - e.patch;
 }
-function Oe(s, e) {
-  const t = k(s), n = k(e);
-  return !t || !n ? !1 : H(t, n) < 0;
+function $e(s, e) {
+  const t = I(s), r = I(e);
+  return !t || !r ? !1 : H(t, r) < 0;
 }
 function qe(s, e) {
-  const t = k(s);
+  const t = I(s);
   if (!t) return null;
-  const n = k(ne);
-  return n && H(t, n) < 0 ? "block" : Oe(s, e) ? "notice" : null;
+  const r = I(re);
+  return r && H(t, r) < 0 ? "block" : $e(s, e) ? "notice" : null;
 }
 function Ge(s) {
-  const e = k(s), t = k(ne);
+  const e = I(s), t = I(re);
   return !!e && !!t && H(e, t) >= 0;
 }
 function je() {
@@ -2246,19 +2281,19 @@ function je() {
 }
 async function Ve() {
   const s = je();
-  if (s && Date.now() - s.at < $e) return s.value;
+  if (s && Date.now() - s.at < Ne) return s.value;
   try {
-    const e = await fetch(Ne, {
+    const e = await fetch(Oe, {
       headers: { Accept: "application/vnd.github+json" }
     });
     if (!e.ok)
       return s?.value ?? null;
-    const t = await e.json(), n = typeof t.tag_name == "string" ? t.tag_name : null, r = n ? n.replace(/^v/i, "") : null;
+    const t = await e.json(), r = typeof t.tag_name == "string" ? t.tag_name : null, n = r ? r.replace(/^v/i, "") : null;
     try {
-      localStorage.setItem(te, JSON.stringify({ value: r, at: Date.now() }));
+      localStorage.setItem(te, JSON.stringify({ value: n, at: Date.now() }));
     } catch {
     }
-    return r;
+    return n;
   } catch {
     return s?.value ?? null;
   }
@@ -2272,14 +2307,14 @@ function Fe(s) {
 function He(s) {
   const e = Fe(s);
   if (!e) return null;
-  const t = s.meta?.name ?? s.name, n = typeof s.meta?.transport == "string" && s.meta.transport.length > 0 ? s.meta.transport : null, r = typeof s.meta?.hardware_id == "string" && s.meta.hardware_id.length > 0 ? s.meta.hardware_id : null;
+  const t = s.meta?.name ?? s.name, r = typeof s.meta?.transport == "string" && s.meta.transport.length > 0 ? s.meta.transport : null, n = typeof s.meta?.hardware_id == "string" && s.meta.hardware_id.length > 0 ? s.meta.hardware_id : null;
   return {
     id: e,
     meta: t ? { name: t } : void 0,
     busy: s.busy === !0,
     activeApp: typeof s.activeApp == "string" && s.activeApp.trim().length > 0 ? s.activeApp : null,
-    transport: n,
-    hardwareId: r
+    transport: r,
+    hardwareId: n
   };
 }
 async function Je(s) {
@@ -2287,9 +2322,9 @@ async function Je(s) {
   if (!t) return { ok: !1, robots: [], reason: "No HF token" };
   if (!e)
     return { ok: !1, robots: [], reason: "No signaling URL" };
-  const n = `${e.replace(/\/$/, "")}/api/robot-status`, r = new AbortController(), i = setTimeout(() => r.abort(), xe), o = s.signal ? We([r.signal, s.signal]) : r.signal;
+  const r = `${e.replace(/\/$/, "")}/api/robot-status`, n = new AbortController(), i = setTimeout(() => n.abort(), xe), o = s.signal ? We([n.signal, s.signal]) : n.signal;
   try {
-    const a = await fetch(n, {
+    const a = await fetch(r, {
       method: "GET",
       headers: {
         Authorization: `Bearer ${t}`,
@@ -2326,12 +2361,12 @@ function We(s) {
   return e.signal;
 }
 export {
-  ne as M,
+  re as M,
   Be as R,
   Je as a,
-  O as c,
+  $ as c,
   qe as d,
   Ve as f,
-  k as p,
+  I as p,
   Ge as s
 };